CN100557636C - 用于确定机动车的自身运动的方法 - Google Patents

用于确定机动车的自身运动的方法 Download PDF

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Publication number
CN100557636C
CN100557636C CNB2005800458752A CN200580045875A CN100557636C CN 100557636 C CN100557636 C CN 100557636C CN B2005800458752 A CNB2005800458752 A CN B2005800458752A CN 200580045875 A CN200580045875 A CN 200580045875A CN 100557636 C CN100557636 C CN 100557636C
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China
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reference point
achieve
luminous flux
motor vehicle
algorithm
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English (en)
Chinese (zh)
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CN101095163A (zh
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A·维尔茨-韦塞尔
F·施泰因
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Closed-Circuit Television Systems (AREA)
CNB2005800458752A 2005-01-04 2005-12-23 用于确定机动车的自身运动的方法 Active CN100557636C (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005000651A DE102005000651A1 (de) 2005-01-04 2005-01-04 Verfahren zur Bestimmung der Eigenbewegung eines Fahrzeugs
DE102005000651.5 2005-01-04

Publications (2)

Publication Number Publication Date
CN101095163A CN101095163A (zh) 2007-12-26
CN100557636C true CN100557636C (zh) 2009-11-04

Family

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Family Applications (1)

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CNB2005800458752A Active CN100557636C (zh) 2005-01-04 2005-12-23 用于确定机动车的自身运动的方法

Country Status (6)

Country Link
US (1) US8135176B2 (fr)
EP (1) EP1836681B1 (fr)
CN (1) CN100557636C (fr)
AT (1) ATE429688T1 (fr)
DE (2) DE102005000651A1 (fr)
WO (1) WO2006072555A1 (fr)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8041483B2 (en) * 1994-05-23 2011-10-18 Automotive Technologies International, Inc. Exterior airbag deployment techniques
DE102007049706A1 (de) * 2007-10-17 2009-04-23 Robert Bosch Gmbh Verfahren zur Schätzung der Relativbewegung von Video-Objekten und Fahrerassistenzsystem für Kraftfahrzeuge
DE102007058779B4 (de) 2007-12-06 2021-01-14 Robert Bosch Gmbh Einrichtung eines Kraftfahrzeugs zur Erzeugung eines für eine Bildanalyse geeigneten Bildes
US8686326B1 (en) * 2008-03-26 2014-04-01 Arete Associates Optical-flow techniques for improved terminal homing and control
DE102009003061A1 (de) * 2009-05-13 2010-11-18 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bahnregelung, insbesondere von mobilen Fahrzeugen
PT2312536E (pt) * 2009-10-15 2013-10-10 Kapsch Trafficcom Ag Aparelho de veículo para um sistema de portagens de estradas
DE102010038905A1 (de) * 2010-08-04 2012-02-09 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bestimmen von Rad- und Karosseriebewegungen eines Fahrzeuges
FR2964774B1 (fr) * 2010-09-14 2012-09-28 Astrium Sas Procede d'estimation du mouvement d'un porteur par rapport a un environnement et dispositif de calcul pour systeme de navigation
DE102010063133A1 (de) * 2010-12-15 2012-06-21 Robert Bosch Gmbh Verfahren und System zur Bestimmung einer Eigenbewegung eines Fahrzeugs
DE102012217701A1 (de) 2012-09-28 2014-04-03 Robert Bosch Gmbh Erfassung einer Eigenbewegung eines Fahrzeugs mittels Kamera nach Abschalten des Motors
DE102013222268A1 (de) * 2013-10-31 2015-04-30 Continental Automotive Gmbh Automatische Korrektur der Gierausrichtung eines Kamerasystems für ein Fahrzeug
DE102014207897A1 (de) * 2014-04-28 2015-10-29 Robert Bosch Gmbh Verfahren zum Erzeugen eines Anzeigebildes
WO2015183889A1 (fr) * 2014-05-27 2015-12-03 Robert Bosch Gmbh Détection, identification et atténuation de contamination d'objectif pour des systèmes de caméra montés dans un véhicule
DE102015202230A1 (de) 2015-02-09 2016-08-11 Conti Temic Microelectronic Gmbh Fusionierte Eigenbewegungsberechnung für ein Fahrzeug
CN111882616B (zh) * 2020-09-28 2021-06-18 李斯特技术中心（上海）有限公司 校正目标检测结果的方法及装置、系统、电子设备、存储介质

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7477758B2 (en) * 1992-05-05 2009-01-13 Automotive Technologies International, Inc. System and method for detecting objects in vehicular compartments
US8041483B2 (en) * 1994-05-23 2011-10-18 Automotive Technologies International, Inc. Exterior airbag deployment techniques
US7330784B2 (en) * 1998-11-17 2008-02-12 Automotive Technologies International, Inc. Weight measuring systems and methods for vehicles
US7786864B1 (en) * 2000-09-08 2010-08-31 Automotive Technologies International, Inc. Vehicular RFID and sensor assemblies
US7983802B2 (en) * 1997-10-22 2011-07-19 Intelligent Technologies International, Inc. Vehicular environment scanning techniques
US8035508B2 (en) * 2002-06-11 2011-10-11 Intelligent Technologies International, Inc. Monitoring using cellular phones
US7089099B2 (en) * 2004-07-30 2006-08-08 Automotive Technologies International, Inc. Sensor assemblies

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
Dead reckoning and cartography using stereo vision for anautonomous car. Gehrig S K ET AL.Intelligent Robots and Systems, International Conference on Proceedings of the 1999 IEEE/RSJ,Vol.3 . 1999 *
Dead reckoning and cartography using stereo vision for anautonomous car. Gehrig S K ET AL.Intelligent Robots and Systems,International Conference on Proceedings of the 1999 IEEE/RSJ,Vol.3. 1999 *
Good features to track. Shi J ET AL.Proceedings of the Computer Society Conference on Computer Vision and Pattern Recognition. 1994 *
Real-Time Motion Segmentaion and Object Tracking. Smith S M.Real-Time Imaging,Vol.4 No.1. 1998 *
The use of optical flow for road navigation. Giachetti A ET AL.IEEE Transactions on Robotics and Automation, IEEE INC, New York, US,Vol.14 No.1. 1998 *

Also Published As

Publication number Publication date
DE502005007163D1 (de) 2009-06-04
ATE429688T1 (de) 2009-05-15
DE102005000651A1 (de) 2006-07-13
US20090214077A1 (en) 2009-08-27
US8135176B2 (en) 2012-03-13
WO2006072555A1 (fr) 2006-07-13
CN101095163A (zh) 2007-12-26
EP1836681B1 (fr) 2009-04-22
EP1836681A1 (fr) 2007-09-26

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